uint8 ctrl_mode
uint8 arm_status
uint8 mode_feedback
uint8 teach_status
uint8 motion_status
uint8 trajectory_num
int64 err_code
bool joint_1_angle_limit
bool joint_2_angle_limit
bool joint_3_angle_limit
bool joint_4_angle_limit
bool joint_5_angle_limit
bool joint_6_angle_limit
bool communication_status_joint_1
bool communication_status_joint_2
bool communication_status_joint_3
bool communication_status_joint_4
bool communication_status_joint_5
bool communication_status_joint_6

